CN110420098A - A kind of system of the road gradient detection and automatic adjustment of wheelchair - Google Patents
A kind of system of the road gradient detection and automatic adjustment of wheelchair Download PDFInfo
- Publication number
- CN110420098A CN110420098A CN201810741634.0A CN201810741634A CN110420098A CN 110420098 A CN110420098 A CN 110420098A CN 201810741634 A CN201810741634 A CN 201810741634A CN 110420098 A CN110420098 A CN 110420098A
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- China
- Prior art keywords
- wheelchair
- wheel
- backrest
- motor
- fixed frame
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/042—Front wheel drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1056—Arrangements for adjusting the seat
- A61G5/1075—Arrangements for adjusting the seat tilting the whole seat backwards
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1081—Parts, details or accessories with shock absorbers or other suspension arrangements between frame and seat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1089—Anti-tip devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
Abstract
The present invention relates to a kind of systems of the road gradient of wheelchair detection and automatic adjustment, include wheelchair main body and control system, it is characterized in that, the wheelchair main body includes fixed frame, front-wheel, rear-wheel, backrest, foot pedal, hydraulic stem and damping spring support rod, and the control system includes motor, hydraulic pump, battery, controller box and front-wheel drive motor；The controller box is provided with gyroscope, acceierometer sensor, controller mainboard；The present invention mainly realizes: 1, by accelerometer, gyroscope detects the heeling condition on the advanced road surface of wheelchair；2, according to pavement state automatic leveling wheelchair detected, the comfortableness and security of seating are improved；3, according to the safe envelope curve of wheelchair, road surface ramp situation, adjust automatically wheelchair travel speed, turning speed.4, after ramp is more than the firm power of wheel chair motor, it is automatically stopped wheelchair, protects motor, and avoid the generation of safety accident；5, the loudspeaker carried by wheelchair, the automatic state for broadcasting wheelchair, auxiliary user drive.
Description
Technical field
The present invention relates to intelligent wheel chair technical field, in particular to the road gradient detection and automatic adjustment of a kind of wheelchair are flat
Weighing apparatus, travel speed, turning speed, the system of maximum climbing slope.
Background technique
Wheelchair can provide trip convenience as a kind of trip walking-replacing tool for crowd's body of old man and legs and feet inconvenience,
But pavement state is generally not single plane, has many places to have slope, as that can have slope before and after road and house,
This climb and fall place when driving, people and wheelchair are easy to will appear and lean forward or swing back, influence people seating comfort
Being on the other hand is there are very big security risk, this security risk is obvious particularly with old man on one side.
Face is discussed upward slope, descending, side coil are inclined, and the travel speed of wheelchair is too fast, turning excessive velocities, brake speed
Spend it is fast, all easily lead to wheelchair rollover, it is preceding turn over, after the generations of major accidents such as turn over.
Due to factors such as wheel chair motor power, the maximum safe inclination angles of structural chassis design, when being more than maximum security standpoint, just
It is easy to appear wheelchair overturnings, motor damage, and further result in the generation of serious safety accident.
Summary of the invention
The present invention against the above deficiency, the system for proposing the road gradient detection and automatic adjustment of a kind of wheelchair, in elimination
Security risk during descending.
A kind of system of the road gradient detection and automatic adjustment of wheelchair, includes wheelchair main body and control system, the wheel
Chair main body includes fixed frame, front-wheel, rear-wheel, backrest, foot pedal, hydraulic stem and damping spring support rod, the control
System includes motor, hydraulic pump, battery, controller box and front-wheel drive motor；The controller box is provided with gyroscope, adds
Speedometer transducer, controller mainboard；The forward position positioned beneath front-wheel of the fixed frame, the rearward position of the fixed frame
Positioned beneath rear-wheel, the front side top of the fixed frame are mounted with two damping spring support rods, the damping spring support rod
The front side bottom of the backrest is supported, there is root crossbeam on rear side of the fixed frame, two liquid are arranged in the top of crossbeam
A fixed link is arranged in the bottom rear of compression bar, the backrest, and the hydraulic stem supports the fixed link of the backrest,
The backrest is the integrated seat that human body is taken；The motor and the hydraulic pump form a power packages, are placed in
The top of fixed frame, and be placed in below the front side of the backrest, the battery is placed in the top of the fixed frame
Rear side, the controller box is close to the battery, and the controller box is also placed in the backrest, the front wheel driving
Dynamic motor is placed on front-wheel, and there are two the front-wheels, two front-wheel distribution one front-wheel drive motors of placement, the top
Spiral shell instrument and acceierometer sensor are arranged in the controller box, and the gyroscope and acceierometer sensor are total by IIC
Line is connected to filter, is then connected to controller mainboard, is equipped with MCU micro-control unit and attitude algorithm list in controller mainboard
Member.
Further, it is based on wheelchair self structure, safe envelope curve is calculated, and combine attitude detection, controls the electricity of wheelchair
The speed of machine traveling, or the difference of the speed by two power, control the turning speed of wheelchair, usually limitation turning speed
Speed avoids turning on one's side,
Further, attitude algorithm unit is equipped in controller mainboard, attitude algorithm unit carries out attitude detection, travels to wheelchair
Maximum ramp limited, if the gradient is excessive, it is impassable to set wheelchair.
Further, wheelchair main body also included loudspeaker, bluetooth cellular phone, posture wheelchair main body of loudspeaker, bluetooth cellular phone, electricity
The information such as tankage, travel speed broadcast, this function mainly reminds user by way of sound.
The present invention is run using two independent modes, and one is to realize normally, and one is to realize regulatory function；For
Regulatory function, the gyroscope and acceierometer sensor are implemented to collect the tilt angle information and acceleration letter information of wheelchair,
It is connected in the MCU of master control by iic bus, in system operation, master control acquires the original acceleration of sensor in real time
The high-frequency noise of initial data is eliminated, is then sent to data into excessively preliminary low-pass filtering treatment with angular speed initial data
Attitude algorithm unit calculates the tilt angle of current wheelchair in real time, and then control system is calculated according to the tilt angle of calculating
Corresponding hydraulic stroke out sends control command and is adjusted to hydraulic system；
It is converted according to following conversion formula, taking when the hydraulic throw of lever is 0 is the normal horizontality of wheelchair；
Initial angle parameter R1, the tilt angle R obtained by gyroscope, the rated travel boundary of hydraulic stroke K, hydraulic stem are
K1 and-K1;
Work as R > R1 or R=R1, K=k1;I.e. when tilting excessive, using range distance；
As R<R1 and R>-R1; K = K1*R/R1 ;But when R is less than 5 degree or R is greater than minus 5 degree, then K=0, i.e., if being
Jolting for low-angle, then be failure to actuate, and otherwise acts in proportion；
When R is less than or equal to-R, K=- K1；
The determination of initial angle parameter R1, by wheelchair place on a horizontal, hydraulic stem formed maximum rated stroke K1 when, seat
The angle of chair back and horizontal differential seat angle are A, when the hydraulic throw of lever is 0, the angle of backrest and horizontal angle
Spending difference is B.
R1=|A-B|；
Substantially, R1 is determined by the performance of hydraulic stem and the size of wheelchair of equipment.
For the driving function of wheelchair, moved by two front-wheel drive motor drivens, the relatively good understanding in this part, this portion is not
It disassembles and.
Main function of the invention is the self-balancing for realizing wheelchair, and then improves the security performance of wheelchair.
Detailed description of the invention
Fig. 1 is a kind of Wheelchair structure schematic diagram of the embodiment of the present invention.
Fig. 2 is a kind of schematic diagram of another angle of Wheelchair structure of the embodiment of the present invention.
Fig. 3 is a kind of wheelchair side view structure state diagram of the embodiment of the present invention.
Fig. 4 is a kind of wheelchair side view structure state diagram of the embodiment of the present invention.
Specific embodiment
Below with reference to specific embodiments and the drawings, the present invention is described in detail.
The present invention against the above deficiency, the system for proposing the road gradient detection and automatic adjustment of a kind of wheelchair, in elimination
Security risk during descending.
A kind of wheelchair 100 referring to FIG. 1-2, includes wheelchair main body 1 and control system 2, and wheelchair main body 1 includes fixed frame
11, front-wheel 12, rear-wheel 13, backrest 15, foot pedal 16, hydraulic stem 17 and damping spring support rod 18, the control system
System 2 includes motor 21, hydraulic pump 22, battery 23, controller box 24 and front-wheel drive motor 25；The controller box 24 is built-in
There are gyroscope, acceierometer sensor, controller mainboard；The forward position positioned beneath front-wheel 12 of the fixed frame 11, it is described
The rearward position positioned beneath rear-wheel 13 of fixed frame 11, the front side top of the fixed frame 11 are mounted with two damping spring supports
Bar 18, the damping spring support rod 18 support the front side bottom of the backrest, and the rear side of the fixed frame 11 has root horizontal
Two hydraulic stems 17 are arranged in beam 111, the top of crossbeam 111, and a fixation is arranged in the bottom rear of the backrest 15
Bar 151, the hydraulic stem 151 support the fixed link 151 of the backrest 15, and the backrest 15 is one that human body is taken
Body formula seat；The motor 21 and the hydraulic pump 22 form a power packages, and hydraulic pump 22 is provided with hydraulic oil pipe 221, liquid
Pressuring oil pipe 221 is connected to hydraulic stem 17, and motor 21 and the hydraulic pump 22 are placed in the top of fixed frame 11, and is placed in described
Below the front side of backrest 15, the battery 23 is placed in the rear side of the top of the fixed frame 11, the controller 24
Box is close to the battery 11, and the controller box 24 is also placed in the backrest 15, and the front-wheel drive motor 25 is pacified
It sets on front-wheel 12, there are two the front-wheels 12, two distribution one front-wheel drive motors 25 of placement of front-wheel 12, the top
Spiral shell instrument and acceierometer sensor are arranged in the controller box 24, and the gyroscope and acceierometer sensor pass through IIC
Bus is connected to controller mainboard, is equipped with MCU micro-control unit and attitude algorithm unit in controller mainboard.
It is for taking that wheelchair main body 1, which mainly acts on, and control system 2 is mainly used to travel and adjust.Damping spring branch
Strut 18 has support and cushioning effect.
Since battery 23 is mounted on backrest 15, battery 23 need to be arranged to flat pattern, to allow seat to lean on
Back 15 has an adjustment space, and motor 21 and the hydraulic pump 22 should be arranged to small-sized, and volume unexpectedly may be small, and hydraulic pump 22
Design motivation should be able to support 75kg or so weight, and damping spring support rod 18 can bear a part of weight under normal circumstances, therefore
Hydraulic pump 22 is subjected to the weight of anthropolith, and it is more reasonable that hydraulic pump 22 is designed to support 75kg or so weight.
System of the invention is run using two independent modes, and one is to realize normal driving system, and one is real
The regulating system of existing regulatory function；
For regulating system, the gyroscope and acceierometer sensor are implemented to collect the tilt angle information and acceleration of wheelchair
Letter information is connected in the MCU of master control by iic bus, and in system operation, it is original that master control acquires sensor in real time
Acceleration and angular speed initial data eliminates the high-frequency noise of initial data into excessively preliminary low-pass filtering treatment, then will count
According to attitude algorithm unit is sent to, the tilt angle of current wheelchair is calculated in real time, and then control system is according to the inclination angle of calculating
Degree calculates corresponding hydraulic stroke, sends control command and is adjusted to hydraulic system；
It is converted according to following conversion formula, taking when the hydraulic throw of lever is 0 is the normal horizontality of wheelchair；
Initial angle parameter R1, the tilt angle R0 obtained by gyroscope, hydraulic stroke K, the rated travel boundary of hydraulic stem
For K1 and-K1;When upward slope, operation values R=R0, descending operation values R=- R0.
Work as R > R1 or R=R1, K=k1;I.e. when tilting excessive, using range distance；
As R<R1 and R>-R1; K = K1*R/R1 ;But when R is less than 5 degree or R is greater than minus 5 degree, then K=0, i.e., if being
Jolting for low-angle, then be failure to actuate, and otherwise acts in proportion；
When R is less than or equal to-R, K=- K1；
The determination of initial angle parameter R1, by wheelchair place on a horizontal, hydraulic stem formed maximum rated stroke K1 when, seat
The angle of chair back and horizontal differential seat angle are A, when the hydraulic throw of lever is 0, the angle of backrest and horizontal angle
Spending difference is B.
R1=|A-B|；
Substantially, R1 is determined by the performance of hydraulic stem and the size of wheelchair of equipment.
It for the driving function of wheelchair, is moved by two front-wheel drive motor drivens 25, the relatively good understanding in this part, therefore
It does not disassemble and.
Fig. 3 and Fig. 4 show the state diagram of wheelchair, such as Fig. 3, wheelchair in the horizontal plane, the angle and horizontal line of backrest
Differential seat angle be A, the present embodiment sets initial angle parameter R1 as 20 degree,
Such as Fig. 4, when descending slopes, the gradient is R0=15 degree, less than 20 degree, at this point, gyroscope and acceierometer sensor are collected into wheel
The inclination angle signal of chair calculates angle tilt angle R=- 15 and spends, and hydraulic stroke K=K1*R/R1=- K1*15/20=
0.75*-K1, that is, 0.75 times of the maximum negative stroke of decline, if motor, which rotates forward, may be implemented maximum negative stroke for 2 seconds, that
Motor need to be only allowed to rotate forward 1.5 seconds.For human body, the people of seating does not generate great changes, because backrest is backward
It tilts, just balances out downward grades, and the center of gravity of human body is still on wheelchair, therefore security performance is ensured, especially
Its elderly bigger for the age can obtain the relatively good sense of security.
Implementation steps of the invention are to be believed by the tilt angle that gyroscope and acceierometer sensor implement to collect wheelchair
Breath and acceleration letter information, are connected in the MCU of master control, in system operation, master control acquires biography in real time by iic bus
The original acceleration and angular speed initial data of sensor, into excessively preliminary low-pass filtering treatment, the high frequency for eliminating initial data is made an uproar
Then data are sent to attitude algorithm unit by sound, calculate the tilt angle of current wheelchair in real time, then control system is according to meter
The tilt angle of calculation calculates corresponding hydraulic stroke, sends control command and is adjusted to hydraulic system.
Main function of the invention is the self-balancing for realizing wheelchair, and dynamic controls wheelchair safe velocity and turning speed
Degree, and the power limited maximum climbing slope of motor is combined, and then improve the security performance of wheelchair.Because of the adjusting system of self-balancing
System is independent with driving system, therefore regulating system can be directly installed on common wheelchair.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (5)
- It include wheelchair main body and control system 1. a kind of road gradient of wheelchair detects and the system of automatic adjustment, feature exists In, the wheelchair main body includes fixed frame, front-wheel, rear-wheel, backrest, foot pedal, hydraulic stem and damping spring support rod, The control system includes motor, hydraulic pump, battery, controller box and front-wheel drive motor；The controller box is provided with Gyroscope, acceierometer sensor, controller mainboard；The forward position positioned beneath front-wheel of the fixed frame, the fixed frame Rearward position positioned beneath rear-wheel, the front side top of the fixed frame is mounted with two damping spring support rods, the damping Spring supporting bar supports the front side bottom of the backrest, there is root crossbeam, the top setting of crossbeam on rear side of the fixed frame A fixed link is arranged in two hydraulic stems, the bottom rear of the backrest, and the hydraulic stem supports the seat to lean on The fixed link of back, the backrest are the integrated seat that human body is taken；The motor and the hydraulic pump form one and move Power group, is placed in the top of fixed frame, and is placed in below the front side of the backrest, and the battery is placed in described solid Determine the rear side of the top of frame, the controller box is close to the battery, and the controller box is also placed in the backrest, The front-wheel drive motor is placed on front-wheel, and there are two the front-wheels, two front-wheel distribution one front-wheel drives of placement Motor, the gyroscope and acceierometer sensor are arranged in the controller box, the gyroscope and accelerometer sensing Device is connected to filter by iic bus, is then connected to controller mainboard, be equipped in controller mainboard MCU micro-control unit and Attitude algorithm unit.
- 2. the road gradient of wheelchair according to claim 1 detects and the system of automatic adjustment, which is characterized in that based on wheel Chair self structure calculates safe envelope curve, and combines attitude detection, controls the speed of the motor traveling of wheelchair, or passes through two The difference of the speed of power controls the turning speed of wheelchair.
- 3. the road gradient of wheelchair according to claim 1 detects and the system of automatic adjustment, which is characterized in that controller Attitude algorithm unit is equipped in mainboard, attitude algorithm unit carries out attitude detection, limits the maximum ramp of wheelchair traveling.
- 4. the road gradient of wheelchair according to claim 1 detects and the system of automatic adjustment, which is characterized in that wheelchair master Body also included loudspeaker, bluetooth cellular phone, loudspeaker, bluetooth cellular phone broadcast the information such as the posture, battery capacity, travel speed of wheelchair main body It quotes and.
- 5. a kind of road gradient of wheelchair according to claim 1 detects and the system of automatic adjustment, in descending, seat Backrest is toward layback, and when upward slope, backrest is toward leaning forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810741634.0A CN110420098A (en) | 2018-07-09 | 2018-07-09 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810741634.0A CN110420098A (en) | 2018-07-09 | 2018-07-09 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
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| CN110420098A true CN110420098A (en) | 2019-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810741634.0A Pending CN110420098A (en) | 2018-07-09 | 2018-07-09 | A kind of system of the road gradient detection and automatic adjustment of wheelchair |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110462A (en) * | 2019-12-30 | 2020-05-08 | 义乌市首创科技有限公司 | A instrument of riding instead of walk that is used for intelligent medical stability height |
| CN111870442A (en) * | 2020-08-03 | 2020-11-03 | 广州大学 | A collapsible wheelchair for shifting disability crowd |
| CN115089390A (en) * | 2022-04-26 | 2022-09-23 | 吉林大学 | Electric power-assisted wheelchair with seat self-balancing function |
| CN115487002A (en) * | 2022-11-17 | 2022-12-20 | 潍坊医学院附属医院 | Electric wheelchair |
| CN116046259A (en) * | 2022-12-31 | 2023-05-02 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
| CN117492451A (en) * | 2024-01-02 | 2024-02-02 | 小神童创新科技(广州)有限公司 | Safety threshold control method for electric wheelchair |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110462A (en) * | 2019-12-30 | 2020-05-08 | 义乌市首创科技有限公司 | A instrument of riding instead of walk that is used for intelligent medical stability height |
| CN111870442A (en) * | 2020-08-03 | 2020-11-03 | 广州大学 | A collapsible wheelchair for shifting disability crowd |
| CN115089390A (en) * | 2022-04-26 | 2022-09-23 | 吉林大学 | Electric power-assisted wheelchair with seat self-balancing function |
| CN115487002A (en) * | 2022-11-17 | 2022-12-20 | 潍坊医学院附属医院 | Electric wheelchair |
| CN115487002B (en) * | 2022-11-17 | 2023-01-13 | 潍坊医学院附属医院 | Electric wheelchair |
| CN116046259A (en) * | 2022-12-31 | 2023-05-02 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
| CN116046259B (en) * | 2022-12-31 | 2024-02-20 | 太仓腾辉金属制品有限公司 | Device for testing sliding deviation of rear wheel frame of exercise wheelchair |
| CN117492451A (en) * | 2024-01-02 | 2024-02-02 | 小神童创新科技(广州)有限公司 | Safety threshold control method for electric wheelchair |
| CN117492451B (en) * | 2024-01-02 | 2024-03-22 | 小神童创新科技(广州)有限公司 | Safety threshold control method for electric wheelchair |
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